Dynamic control of multi-robot formation

Yangmin Li, Xin Chen

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

18 Citations (Scopus)

Abstract

The issue of multi-robot formation is address in this paper. Usually robots can only handle local information described by an adjacency graph. We define structure error of formation based on the graph theory and propose a local control strategy for individual robot based on NN control with robust term which can ensure robots converge to a unique formation. Furthermore we discuss the performance on two aspects; the first one is dynamic characteristics during formation process; the second one is obstacle avoidance during formation.
Original languageEnglish
Title of host publicationProceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05
Pages352-357
Number of pages6
Volume2005
DOIs
Publication statusPublished - 1 Dec 2005
Externally publishedYes
Event2005 IEEE International Conference on Mechatronics, ICM '05 - Taipei, Taiwan
Duration: 10 Jul 200512 Jul 2005

Conference

Conference2005 IEEE International Conference on Mechatronics, ICM '05
CountryTaiwan
CityTaipei
Period10/07/0512/07/05

Keywords

  • Adaptive NN control
  • Formation
  • Multi-robot system
  • Obstacle avoidance

ASJC Scopus subject areas

  • Engineering(all)

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